Add define for compiling under RTLinux

[matches/MCTX3420.git] / server / sensor.c

diff --git a/server/sensor.c b/server/sensor.c
index 792bbbd..816a895 100644 (file)
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -29,7 +29,7 @@ int g_num_sensors = 0;
  * @param min_warn - Minimum warning threshold; program will log warnings if the value falls below this threshold
  * @returns Number of actuators added so far
  */
-int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, double max_error, double min_error, double max_warn, double min_warn)
+int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
 {
        if (++g_num_sensors > SENSORS_MAX)
        {
@@ -45,19 +45,23 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn
        s->name = name;
        s->read = read; // Set read function
        s->init = init; // Set init function
-       if (init != NULL)
-               init(name, user_id); // Call it
 
        // Start by averaging values taken over a second
-       s->sample_us = 1e6;
+       DOUBLE_TO_TIMEVAL(1e-4, &(s->sample_time));
        s->averages = 1;
+       s->num_read = 0;
 
-       // Set warning/error thresholds
-       s->thresholds.max_error = max_error;
-       s->thresholds.min_error = min_error;
-       s->thresholds.max_warn = max_warn;
-       s->thresholds.min_warn = min_warn;
+       // Set sanity function
+       s->sanity = sanity;
 
+       if (init != NULL)
+       {
+               if (!init(name, user_id))
+                       Fatal("Couldn't init sensor %s", name);
+       }
+
+       s->current_data.time_stamp = 0;
+       s->current_data.value = 0;
        return g_num_sensors;
 }
 
@@ -68,11 +72,14 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn
  */
 #include "sensors/resource.h"
 #include "sensors/strain.h"
-#include "sensors/piped.h"
+#include "sensors/pressure.h"
 void Sensor_Init()
 {
-       Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, 1e50,-1e50,1e50,-1e50);    
-       Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, 1e50,-1e50,1e50,-1e50);   
+       Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);     
+       Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);    
+       //Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+       //Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+       //Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
        //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
        //Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, 5000,0,5000,0);
        //Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, 5000,0,5000,0);
@@ -177,26 +184,6 @@ void Sensor_SetModeAll(ControlModes mode, void * arg)
 }
 
 
-/**
- * Checks the sensor data for unsafe or unexpected results 
- * @param sensor_id - The ID of the sensor
- * @param value - The value from the sensor to test
- */
-void Sensor_CheckData(Sensor * s, double value)
-{
-       if( value > s->thresholds.max_error || value < s->thresholds.min_error)
-       {
-               Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n",s->name,value, s->thresholds.max_error, s->thresholds.min_error);
-               //new function that stops actuators?
-               //Control_SetMode(CONTROL_EMERGENCY, NULL)
-       }
-       else if( value > s->thresholds.max_warn || value < s->thresholds.min_warn)
-       {
-               Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", s->name,value,s->thresholds.max_warn, s->thresholds.min_warn);        
-       }
-}
-
-
 /**
  * Record data from a single Sensor; to be run in a seperate thread
  * @param arg - Cast to Sensor* - Sensor that the thread will handle
@@ -214,21 +201,38 @@ void * Sensor_Loop(void * arg)
                d.value = 0;
                bool success = s->read(s->user_id, &(d.value));
 
-               struct timeval t;
-               gettimeofday(&t, NULL);
+               struct timespec t;
+               clock_gettime(CLOCK_MONOTONIC, &t);
                d.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());        
                
                if (success)
                {
-
-
-                       Sensor_CheckData(s, d.value);
-                       Data_Save(&(s->data_file), &d, 1); // Record it
+                       if (s->sanity != NULL)
+                       {
+                               if (!s->sanity(s->user_id, d.value))
+                               {
+                                       Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
+                               }
+                       }
+                       s->current_data.time_stamp += d.time_stamp;
+                       s->current_data.value += d.value;
+                       
+                       if (++(s->num_read) >= s->averages)
+                       {
+                               s->current_data.time_stamp /= s->averages;
+                               s->current_data.value /= s->averages;
+                               Data_Save(&(s->data_file), &(s->current_data), 1); // Record it
+                               s->num_read = 0;
+                               s->current_data.time_stamp = 0;
+                               s->current_data.value = 0;
+                       }
                }
                else
                        Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
 
-               usleep(s->sample_us);
+
+               clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
+               
        }
        
        // Needed to keep pthreads happy
@@ -299,8 +303,8 @@ void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
  */
 void Sensor_Handler(FCGIContext *context, char * params)
 {
-       struct timeval now;
-       gettimeofday(&now, NULL);
+       struct timespec now;
+       clock_gettime(CLOCK_MONOTONIC, &now);
        double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
 
        int id = 0;
@@ -375,7 +379,7 @@ void Sensor_Handler(FCGIContext *context, char * params)
                        FCGI_RejectJSON(context, "Negative sampling speed!");
                        return;
                }               
-               s->sample_us = 1e6*sample_s;
+               DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
        }